Michael Jackson's mother will become the permanent guardian of the star's three children, a court ruled last night.
Los Angeles Superior Court Judge Mitchell Beckloff also agreed that monthly allowances should be paid to Katherine Jackson and the children.
The ruling came after a lawyer for Jackson's dermatologist, Dr Arnold Klein, objected to the custody arrangements.
Mark Kaplan said the doctor was concerned about the children's education and other day-to-day parenting issues.
The judge said Dr Klein did not have legal standing to object to the care of Jackson's children, but said he could raise objections later if he wanted to.
He has repeatedly denied tabloid reports that he is the biological father of the singer's children.
Jackson, who died in June at the age of 50, named his mother as his first choice to raise Prince Michael, 12, Paris, 11, and Prince Michael II, in a 2002 will.
Mrs Jackson, 79, who reached an agreement with the mother of the two eldest children, Deborah Rowe, last week, was the only person to formally petition for custody since her son's death.
The identity of the mother of the youngest child, also known as Blanket, has never been revealed.
The three children have been living with their grandmother at the family home in the San Fernando Valley since Jackson died on June 25.
Mrs Jackson attended court with her daughters LaToya and Rebbie and son Randy Jackson.
A settlement was also reached between Jackson's estate and promoter AEG.
Lawyer John Branca, a co-administrator of Jackson's estate, said the agreement related to merchandise and rehearsal footage from the singer's planned comeback concerts at London's O2.
The court has five days to consider the contracts and settlement, with another hearing scheduled for next Monday.
Today's hearing ended with the judge deciding Mr Branca and music executive John McClain would continue to administer the singer's estate until at least October 2.